Title :
Spinning Sensors: A Middleware for Robotic Sensor Nodes with Spatiotemporal Models
Author :
Aoki, Soko ; Nakazawa, Jin ; Tokuda, Hideyuki
Author_Institution :
Grad. Sch. of Media & Governance, Keio Univ., Fujisawa
Abstract :
This paper proposes Spinning Sensors middleware that realizes a robotic sensor node mechanism comprised of a sensor node and a robotic actuator node such as a motor or a mobile robot. We can increase sensing space, time, and accuracy of a sensor node by attaching them onto robotic actuators. To realize a robotic sensor node, we need to achieve collaborative utilization of arbitrary sensors and actuators, and automated calculation of sensing area and time. We stated these problems as spontaneous coordination problem and sensing area calculation problem. The Spinning Sensors middleware provides the mechanism of device coordination, data processing, and management of spatiotemporal model of robotic sensor nodes. In this paper, we discuss a robotic sensor node model, and design and implementation of the middleware. We introduce three kinds of applications using the middleware such as environment monitoring, sensor controlled robot, and context-aware service. The experiments using the robotic sensor node and the middleware are conducted to evaluate and measure the possibility, performance, and practicality of a robotic sensor node mechanism.
Keywords :
actuators; control engineering computing; middleware; mobile robots; ubiquitous computing; context-aware service; data processing; device coordination; mobile robot; robotic actuator; robotic sensor nodes; sensor controlled robot; spatiotemporal models; spinning sensors middleware; spontaneous coordination problem; Actuators; Joining processes; Middleware; Mobile robots; Orbital robotics; Robot kinematics; Robot sensing systems; Robotics and automation; Spatiotemporal phenomena; Spinning; Middleware; Models; Robotic Sensor; Sensor Network;
Conference_Titel :
Embedded and Real-Time Computing Systems and Applications, 2008. RTCSA '08. 14th IEEE International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-0-7695-3349-0
DOI :
10.1109/RTCSA.2008.37